Fuzzy Self-Localization using Natural Features in the Four-Legged League.

D. Herrero-Pérez, H. Martínez-Barberá, and A. Saffiotti

Abstract

In the RoboCup four-legged league, robots mainly rely on artificial
coloured landmarks for localisation. As it was done in other leagues,
artificial landmarks will soon be removed as part of the RoboCup push
toward playing in more natural environments. Unfortunately, the robots
in this league have very unreliable odometry due to poor modeling of
legged locomotion and to undetected collisions. This makes the use of
robust sensor-based localization a necessity. We present an extension
of our previous technique for fuzzy self-localization based on
artificial landmarks, by including observations of features that occur
naturally in the soccer field. In this paper, we focus on the use of
corners between the field lines. We show experimental results obtained
using these features together with the two nets. Eventually, our
approach should allow us to migrate from landmarks-only to line-only
localisation.